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Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation

A robot-assisted, piezoelectric-driven technology, applied in surgical robots, puncture needles, trocars, etc., can solve the problems of difficult movement accuracy, difficult trajectory planning, complex force, etc., and achieves simple structure, small friction torque, easy-to-control effects

Active Publication Date: 2014-11-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that although the existing flexible needle can avoid the obstacle tissue when it moves in the tissue, it suffers from complex force during the movement process, difficulty in trajectory planning, and difficulty in ensuring the movement accuracy, and further provides a piezoelectric needle-based Actuated robot-assisted puncture system with inclined-angle flexible needle

Method used

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  • Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation
  • Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation
  • Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation

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specific Embodiment approach 1

[0010] Specific embodiment one: combine 1 and Figure 4 Describe this embodiment, a robot-assisted puncture system based on a piezoelectric drive with an inclined angle flexible needle in this embodiment includes a needle motor 5, a platform 6, a motor mounting seat 7, a coupling 8, a guide rail 10, and a lead screw head Bearing housing 11, lead screw 12, moving nut 13, slider 14, slider nut connector 15, flexible pin fixing member 16, slider nut connector 17, piezoelectric input connector 18, screw end bearing housing 19 , support piece 21, support sleeve 22, flexible feed needle 23 and bearing support 26, support piece 21, screw end bearing seat 19, lead screw head end bearing seat 11 and motor mounting seat 7 are arranged in sequence from left to right On the platform 6, the needle-feeding motor 5 is arranged on the motor mount 7, and the output shaft of the needle-feeding motor 5 is rotatably arranged on the bearing seat 19 at the tail end of the screw and the bearing seat...

specific Embodiment approach 2

[0013] Specific implementation mode two: combination Figure 1-Figure 3 The present embodiment will be described. The inclination angle of the left end of the needle tip 1 of the present embodiment is 45 degrees. Such arrangement facilitates rapid and accurate penetration into human tissues. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0014] Specific implementation mode three: combination Figure 1-Figure 3 This embodiment will be described. The connecting rod 2 of this embodiment is an elastic connecting rod. In this way, due to the existence of elastic force and friction coefficient, when the piezoelectric ceramic 3 undergoes a shearing movement, there will be friction between the upper surface of the piezoelectric ceramic 3 and the connecting rod 2 . When the shearing motion is slow, the frictional force is static frictional force. The connecting rod 2 rotates with the upper surfaces of the four piezoelectric ceramics 3 and does not move relative to each other. When the shearing motion is fast, the frictional force Expressed as dynamic friction, the connecting rod 2 does not rotate with the upper surfaces of the four piezoelectric ceramics 3 or rotates slowly, and there is relative motion between each other. When the piezoelectric ceramics 3 move faster in one direction, the other direction When the mov...

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Abstract

The invention provides an inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation, relates to robot auxiliary puncture systems, and aims at resolving the problems that an existing flexible needle is complex in stress, brings difficulty to trajectory planning, and does not easily guarantee moving accuracy in the moving process inside tissue. According to the inclined angle flexible needle robot auxiliary puncture system, a support piece, a lead screw tail end bearing block, a lead screw head end bearing block and a motor installation base are sequentially arranged on a platform from left to right, an inserting needle motor is arranged on the motor installation base, an output shaft of the inserting needle motor is connected with a lead screw, a guide rail is arranged on the platform, a moving nut is arranged on the lead screw, a bearing support seat is arranged on the moving nut, a sliding block is arranged on the guide rail, the bearing support seat is connected with the guide rail, a sliding block nut connecting seat is arranged on a sliding block nut connecting piece, a flexible needle fixing piece is fixedly installed on the sliding block nut connecting seat, a support sleeve is arranged at the upper end of the support piece, one end of a feeding flexible needle is arranged inside the support sleeve in a penetrated mode, and the other end of the feeding flexible needle is connected with the flexible needle fixing piece. The inclined angle flexible needle robot auxiliary puncture system is applied to robot auxiliary puncturing.

Description

technical field [0001] The invention relates to a robot-assisted puncture system with an oblique angle flexible needle, in particular to a piezoelectric-driven oblique angle flexible needle robot-assisted puncture system, which belongs to the field of medical robots for minimally invasive interventional surgery. Background technique [0002] In order to overcome the inherent defects of traditional cancer treatments such as resection, chemotherapy, and radiotherapy, which kill cancer cells while also killing a large number of healthy cells in the human body, targeted therapy for cancer cells has become a research hotspot in cancer treatment in recent years. Interventional surgery has also begun to be more and more applied to actual clinical treatment. The so-called interventional surgery is a minimally invasive surgery using high-tech means. Under the guidance of medical imaging equipment, special guide wire catheters and other precision instruments are introduced into the hu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B19/00A61B17/34A61B34/30
Inventor 董为杜志江王力鋆
Owner HARBIN INST OF TECH
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